CN115342801A - Binocular vision-based day and night target deflection angle monitoring device and method - Google Patents

Abstract

The present invention relates to a day and night monitoring device and method for target deflection angle based on binocular vision. The day and night monitoring device for target deflection angle based on binocular vision includes a target, a power supply module, a self-calibration module, a binocular vision module, and an image processing module , key module and display module. The method includes: calibrating, installing the target on the target, monitoring and extracting the feature points in the monitoring image in real time by the device, and realizing the monitoring function of the target deflection angle. Therefore, the device and method can have the characteristics of all-weather, passive monitoring, real-time monitoring, and low cost.

Description

A device and method for day and night monitoring of target deflection angle based on binocular vision

technical field

The invention relates to the technical field of intelligent monitoring equipment, in particular to a device and method for day and night monitoring of target deflection angle based on binocular vision.

Background technique

With the development of science and technology, unmanned fleets and fleet automatic following technology have become research hotspots. When the convoy or fleet turns, the subsequent vehicles and ships need to obtain the deflection angle information of the previous target.

The technologies currently used include Beidou positioning, laser radar, inertial sensors and other technologies. Among them, the accuracy of Beidou/GPS positioning has a large error, and the monitoring accuracy cannot be guaranteed in a small range and short distance; the laser radar technology belongs to active monitoring and is vulnerable to Environmental interference and lack of concealment. Secondly, the cost of lidar is high, which is not suitable for large-scale promotion. The inertial sensor needs to be greatly affected by the drift of the internal gyroscope, and its measurement error will accumulate over time.

Compared with the above-mentioned monitoring methods, the method based on machine vision has many advantages, such as long range, high precision, all-weather real-time monitoring, strong concealment, and low cost. In machine vision, binocular vision has the function of distance measurement. By acquiring two images of the target, it can solve the three-dimensional geometric information of the target. Therefore, the monitoring device based on binocular vision can realize the deflection information of the target, which has extremely high application value and huge potential market.

Contents of the invention

In order to solve the above technical problems, a binocular vision-based target deflection angle day and night monitoring device of the present invention includes a target, a power supply module, a self-calibration module, a binocular vision module, an image processing module, a button module and a display module;

The target consists of two coded targets, namely, coded target I and coded target II, which provide feature points for calculating the deflection angle;

The binocular vision module is arranged on one side of the target, and the binocular vision module is composed of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector constitute a detection component, That is, the detection component I and the detection component II. The detection component I is composed of the low-light optical system I and the low-light detector I. The detection component II is composed of the low-light optical system II and the low-light detector II. At the same time, the detection component I and the detection component There are power supply and video communication connections between II and the image processing module, and the image of the target can be obtained through real-time monitoring of the encoded target day and night;

The self-calibration module is composed of a collimating optical system, a laser emitter, a low-light optical system III and a low-illumination detector III, wherein power supply and communication connections are provided between the laser emitter and the image processing module, and the low-illumination detector III There are power supply and video communication connections with the image processing module, in which the self-calibration module transmits the acquired images to the image processing module, and solves the optical axis deviation of the two detection components in the binocular vision module, so as to adjust the two Parallelism of the optical axis;

The image processing module acquires the monitoring image of the binocular vision module, stitches the images output by the binocular vision module, and then extracts the target distance information in the image, solves the target deflection angle, and then transmits the image information to the display module, And superimpose the target deflection angle into the video image for display, and provide power for other modules.

In one embodiment of the present invention, the coded target is composed of several black and white blocks.

In one embodiment of the present invention, the image processing module includes a logic control board, a software algorithm, and a communication interface, wherein the logic control board communicates with the binocular vision module, the self-calibration module, the display module, and the button module through the communication interface. Communication connected.

In one embodiment of the present invention, the power supply module includes a power supply board connected to a dry battery, a replaceable lithium battery or an external power supply to supply power to the image processing module, and through the logic control board and the communication interface of the image processing module It is connected to the self-calibration module, the binocular vision module, and the display module for power supply.

In one embodiment of the present invention, the key module is composed of a rotary encoder, and the signal is input to the image processing module by adjusting the encoder, and driven by a software algorithm to realize the multi-channel video switching function of the display module.

In one embodiment of the present invention, the display module includes a display screen, wherein the display screen is connected to the power supply and video output of the logic control board through the communication interface, so that the user of the device can monitor the deflection of the target.

The present invention also provides a binocular vision-based target deflection angle day and night monitoring method, the target deflection angle day and night monitoring method is based on the target deflection angle day and night monitoring device design, including the following steps:

Step S1: Before the device is monitored, use the self-calibration module to calibrate the optical axis; the laser in the self-calibration module passes through the collimation system, is reflected and imaged in the low-light detector III, and is imaged as a spot in the image;

Step S2: The low-illumination detector III transmits the image to the image processing module, and finally displays it on the display module. The user adjusts the positional relationship of the two detection components based on the image, thereby adjusting the parallelism of the optical axes of the two detection components. Spend;

Step S3: When the image of the laser spot is adjusted to the center of the image, the optical axis correction is completed; after the optical axis correction is completed, the binocular vision module monitors the two targets at the target in real time, and transmits the two monitoring images to the image in real time processing module.

Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: the device and method for day and night monitoring of the target deflection angle in the present invention can monitor the information of the previous target deflection angle in real time, and has all-weather, passive monitoring, real-time monitoring, and low cost.

Description of drawings

In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below according to the specific embodiments of the present invention and in conjunction with the accompanying drawings.

Fig. 1 is a system block diagram of a day and night monitoring device for target deflection angle based on binocular vision;

Fig. 2 is a schematic diagram of the coded target in the day and night monitoring device for target deflection angle according to the present invention;

Fig. 3 is a schematic diagram of the display interface in the day and night monitoring device for target deflection angle according to the present invention;

Fig. 4 is a schematic diagram of the monitoring principle of the day and night monitoring method of the target deflection angle according to the present invention.

Detailed ways

As shown in Figure 1, the present embodiment provides a binocular vision-based target deflection angle day and night monitoring device, including a target, a power supply module, a self-calibration module, a binocular vision module, an image processing module, a button module and a display module; The above-mentioned target is composed of two coded targets, namely coded target I and coded target II, which provide feature points for calculating the deflection angle;

The binocular vision module is arranged on one side of the target, and the binocular vision module is composed of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector constitute a detection component, That is, the detection component I and the detection component II. The detection component I is composed of the low-light optical system I and the low-light detector I. The detection component II is composed of the low-light optical system II and the low-light detector II. At the same time, the detection component I and the detection component There are power supply and video communication connections between II and the image processing module, and the image of the target can be obtained through real-time monitoring of the encoded target day and night;

The self-calibration module is composed of a collimating optical system, a laser emitter, a low-light optical system III and a low-illumination detector III, wherein power supply and communication connections are provided between the laser emitter and the image processing module, and the low-illumination detector III There are power supply and video communication connections with the image processing module, in which the self-calibration module transmits the acquired images to the image processing module, and solves the optical axis deviation of the two detection components in the binocular vision module, so as to adjust the two Parallelism of the optical axis;

The image processing module acquires the monitoring image of the binocular vision module, stitches the images output by the binocular vision module, and then extracts the target distance information in the image, solves the target deflection angle, and then transmits the image information to the display module, And the target deflection angle is superimposed on the video image for display, as shown in Figure 3, and supplies power to other modules.

Specifically, the target module is composed of two encoded targets, including target I and target II, and each target is composed of several black and white blocks, as shown in FIG. 2 .

The image processing module includes a logic control board, a software algorithm, and a communication interface, wherein the logic control board communicates with the binocular vision module, the self-calibration module, the display module, and the button module through the communication interface, and outputs to the binocular vision module. image stitching;

In addition, the logic control board is equipped with a voltage conversion and power supply connection between the binocular vision module, the self-calibration module and the display module.

The power supply module includes a power board, and is connected to a dry battery, a replaceable lithium battery or an external power supply to supply power to the image processing module, and is connected to the self-calibration module and the binocular vision module respectively through the logic control board and the communication interface in the image processing module , The power supply between the display modules is connected.

The key module is composed of a rotary encoder. By adjusting the encoder, the signal is input to the image processing module, and driven by the software algorithm, the multi-channel video switching function of the display module is realized.

The display module includes a display screen, wherein the display screen is connected to the power supply and video output between the logic control board through the communication interface, so that the user of the device can monitor the deflection of the target.

The present invention also provides a binocular vision-based target deflection angle day and night monitoring method, the target deflection angle day and night monitoring method is based on the target deflection angle day and night monitoring device design, including the following steps:

Step S1: Before the device is monitored, use the self-calibration module to calibrate the optical axis; the laser in the self-calibration module passes through the collimation system, is reflected and imaged in the low-light detector III, and is imaged as a spot in the image;

Step S2: The low-illumination detector III transmits the image to the image processing module, and finally displays it on the display module. The user adjusts the positional relationship of the two detection components based on the image, thereby adjusting the parallelism of the optical axes of the two detection components. Spend;

Step S3: When the image of the laser spot is adjusted to the center of the image, the optical axis correction is completed; after the optical axis correction is completed, the binocular vision module monitors the two targets at the target in real time, and transmits the two monitoring images to the image in real time processing module.

As shown in Figure 4, the image processing module extracts the feature points of the target in the image according to the software algorithm, and calculates the longitudinal straight-line distance between the two encoded targets according to the formula (1) and formula (2), and then uses the trigonometric function of the formula (3) The relationship solution calculates the target deflection angle.

Where L ₁ is the longitudinal linear distance of the characteristic circle in target 1, f ₁ is the focal length of the low-light lens in detection component 1, d is the baseline length in binocular vision, x ₁ -x ₂ is the center point of target 1 in the binocular Parallax in stereo vision components.

L ₂ is the longitudinal linear distance of the characteristic circle in target 2, f ₂ is the focal length of the low-light lens in detection component 2, d is the baseline length in binocular vision, x ₁ -x ₂ is the center point of target 2 in the binocular stereo Parallax in visual components.

From this, the longitudinal straight-line distances between the target 1 and the target 2 and the monitoring device can be calculated, and further the target deflection angle can be calculated according to formula (3).

θ is the target deflection angle, D is the installation horizontal distance between target I and target II, and the target deflection angle is calculated by this solution.

The image processing module splices the two monitoring images, and after the processing is completed, it is transmitted to the display module for display, and the target deflection angle is displayed on the display interface. Use the key module to realize video switching, such as splicing field of view video, detection component I monitoring video, and detection component II monitoring video.

Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (7)

1. A binocular vision-based day and night target deflection angle monitoring device is characterized by comprising a target, a power supply module, a self-calibration module, a binocular vision module, an image processing module, a key module and a display module;

the target consists of two coding targets, namely a coding target I and a coding target II, and provides characteristic points for resolving the deflection angle;

the binocular vision module is arranged on one side of the target and consists of two low-light optical systems and two low-light detectors, wherein a single low-light optical system and a single low-light detector form a detection assembly, namely a detection assembly I and a detection assembly II, the detection assembly I consists of the low-light optical system I and the low-light detector I, the detection assembly II consists of the low-light optical system II and the low-light detector II, meanwhile, power supply and video communication connection are arranged between the detection assembly I and the detection assembly II and the image processing module respectively, and images of the target are acquired through day and night real-time monitoring of the coded target;

the self-calibration module consists of a collimating optical system, a laser emitter, a low-light optical system III and a low-light detector III, wherein a power supply and communication connection is arranged between the laser emitter and the image processing module, and a power supply and video communication connection is arranged between the low-light detector III and the image processing module;

the image processing module acquires monitoring images of the binocular vision module, splices the images output by the binocular vision module, extracts target distance information in the images, calculates a target deflection angle, transmits the image information to the display module, superimposes the target deflection angle on a video image for display, and supplies power to other modules.

2. The diurnal target deflection angle monitoring device of claim 1, wherein: the coding target is composed of a plurality of black and white color blocks.

3. The target deflection angle diurnal monitoring device of claim 1, wherein: the image processing module comprises a logic control panel, a software algorithm and a communication interface, wherein the logic control panel is in communication connection with the binocular vision module, the self-calibration module, the display module and the key module through the communication interface.

4. The target deflection angle diurnal monitoring device of claim 1, wherein: the power module comprises a power panel, a dry battery, a replaceable lithium battery or an external power supply are connected to supply power for the image processing module, and the power module is respectively connected with the self-calibration module, the binocular vision module and the display module through a logic control panel and a communication interface in the image processing module.

5. The target deflection angle diurnal monitoring device of claim 1, wherein: the key module is composed of a rotary encoder, signals are input into the image processing module through the adjusting encoder, and the multi-channel video switching function of the display module is achieved through software algorithm driving.

6. The target deflection angle diurnal monitoring device of claim 1, wherein: the display module comprises a display screen, wherein the display screen is connected with the logic control panel through a communication interface in a power supply and video output mode, so that a user of the device can monitor the target deflection condition conveniently.

7. A binocular vision-based target deflection angle day-night monitoring method, which is designed based on the target deflection angle day-night monitoring device of claims 1-6, and is characterized by comprising the following steps:

step S1: before monitoring, an optical axis is calibrated by using a self-calibration module; laser in the self-calibration module is reflected and imaged in a low-illumination detector III through a collimation system, and an image is formed into a light spot in the image;

step S2: the low-illumination detector III transmits the image to the image processing module and finally displays the image in the display module, and a user adjusts the position relation of the two detection assemblies by combining the image so as to adjust the parallelism of the optical axes of the two detection assemblies;

and step S3: when the image of the laser spot is adjusted to the center of the image, the optical axis correction is finished; after the optical axis correction is completed, the binocular vision module monitors two targets at the target in real time and transmits two monitoring images to the image processing module in real time.

Images